DeformableBody (Artisynth API documentation)

java.lang.Object
- artisynth.core.modelbase.ModelComponentBase
- - artisynth.core.modelbase.RenderableComponentBase
  - - artisynth.core.mechmodels.DynamicComponentBase
    - - artisynth.core.mechmodels.Frame
      - artisynth.core.mechmodels.RigidBody
        
        artisynth.core.mechmodels.DeformableBody

All Implemented Interfaces:

Collidable, CollidableBody, CollidableDynamicComponent, ConnectableBody, DynamicComponent, ForceEffector, FrameAttachable, HasDistanceGrid, HasSurfaceMesh, MotionTargetComponent, PointAttachable, CopyableComponent, HasCoordinateFrame, ModelComponent, PropertyChangeListener, RenderableComponent, Traceable, TransformableGeometry, ScalableUnits, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable

Direct Known Subclasses:

BeamBody
```
public abstract class DeformableBody
extends RigidBody
implements PropertyChangeListener
```

Nested Class Summary
- Nested classes/interfaces inherited from class artisynth.core.mechmodels.RigidBody
  RigidBody.DistanceSurfaceRendering, RigidBody.InertiaMethod
- Nested classes/interfaces inherited from interface artisynth.core.mechmodels.Collidable
  Collidable.Collidability, Collidable.Group

Field Summary

Fields
Modifier and Type Field and Description

static PropertyList myProps
- Fields inherited from class artisynth.core.mechmodels.Frame
  dynamicVelInWorldCoords, myRenderFrame
- Fields inherited from class artisynth.core.modelbase.ModelComponentBase
  enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames
- Fields inherited from interface artisynth.core.mechmodels.Collidable
  All, AllBodies, Deformable, Rigid, Self
- Fields inherited from interface artisynth.core.modelbase.CopyableComponent
  COPY_REFERENCES
- Fields inherited from interface artisynth.core.modelbase.TransformableGeometry
  TG_ARTICULATED, TG_DRAGGER, TG_PRESERVE_ORIENTATION, TG_SIMULATING
- Fields inherited from interface maspack.render.IsRenderable
  TRANSPARENT, TWO_DIMENSIONAL

Fields
Modifier and Type	Field and Description
`static PropertyList`	`myProps`

Method Summary

All Methods Static Methods Instance Methods Abstract Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`addEffectivePointMass(double m, Vector3d loc)` Adds a point mass to the effective spatial inertia for this Frame.
`void`	`addElasticForce(VectorNd f)`
`void`	`addExternalElasticForce(VectorNd f)`
`void`	`addPointForce(Point3d loc, Vector3d f)` Adds to this body's forces the wrench arising from applying a force `f` on a point `loc`.
`void`	`addPointForce(Wrench wr, VectorNd fe, Point3d loc, Vector3d f)` Adds to `wr` and `fe` the wrench and elastic forces arising from applying a force `f` on a point `loc`.
`void`	`addPointMass(Matrix M, double m, Vector3d pos)` Adds a point mass to a matrix that contains the spatial inertia for this Frame.
`void`	`addPosImpulse(double[] xbuf, int xidx, double h, double[] vbuf, int vidx)`
`void`	`addPosJacobian(SparseNumberedBlockMatrix S, double s)` Scales the components of the position Jacobian associated with this force effector and adds it to the supplied solve matrix M.
`void`	`addScaledExternalElasticForce(double s, VectorNd f)`
`void`	`addSolveBlock(SparseNumberedBlockMatrix S)`
`void`	`addToPointVelocity(Vector3d vel, double w, ContactPoint cpnt)` Computes the velocity imparted to a contact point by this component's current velocity, multiples it by a weighting factor `w`, and add it to `vel`.
`void`	`addVelJacobian(SparseNumberedBlockMatrix S, double s)` Scales the components of the velocity Jacobian associated with this force effector and adds it to the supplied solve matrix M.
`void`	`applyExternalForces()`
`void`	`applyForces(double t)` Adds forces to the components affected by this force effector at a particular time.
`void`	`computeDeformationGradient(Matrix3d F, Vector3d x0)`
`void`	`computeDeformedFrame(RigidTransform3d A, PolarDecomposition3d polarDecomp, RigidTransform3d A0)`
`void`	`computeDeformedFrame(RigidTransform3d A, RigidTransform3d A0)`
`void`	`computeDeformedFrameVel(Twist vel, PolarDecomposition3d polarDecomp, RigidTransform3d A0)` Computes the spatial velocity of an attached frame A, as represented in the coordinates of A.
`void`	`computeDeformedPos(Vector3d pos, Vector3d pos0)` Computes the deformed position in body coordinates
`void`	`computeDeformedVel(Vector3d vel, Vector3d pos0)` Computes the deformed velocity in body coordinates
`void`	`computeElasticJacobian(MatrixNd Pi, PolarDecomposition3d polarDecomp, RigidTransform3d A0, boolean worldCoords)` Compute the transform that maps elastic velocities onto the spatial velocity of an attached frame A.
`void`	`computeLocalPointForceJacobian(MatrixBlock GT, Vector3d loc, RotationMatrix3d R)` Computes a force Jacobian for a point attached to this frame, and then optionally rotates its columns using a rotation matrix R.
`void`	`computePointCoriolis(Vector3d cor, Vector3d loc)` Computes the velocity derivative of a point attached to this frame that is due to the current velocity of the frame.
`void`	`computePointLocation(Vector3d loc, Vector3d pos)` Computes the location, in body coordinates, of a point whose position is given in world coordinates.
`void`	`computePointPosition(Vector3d pos, Point3d loc)` Computes the position, in world coordinates, of a point attached to this frame.
`void`	`computePointVelocity(Vector3d vel, Point3d loc, Twist frameVel)` Computes the velocity, in world coordinates, of a point attached to this frame.
`void`	`computeUndeformedFrame(RigidTransform3d A0, PolarDecomposition3d polarDecomp, RigidTransform3d A)`
`double`	`computeUndeformedPos(Vector3d pos0, Vector3d pos, double tol)` Computes the undeformed position of a given position in body coordinates
`void`	`computeWorldPointForceJacobian(MatrixBlock GT, Point3d loc)` Computes the force Jacobian, in world coordinates, for a point attached to this frame.
`static FemMaterial`	`createDefaultMaterial()`
`MatrixBlock`	`createMassBlock()` Create a matrix block for representing the mass of this component, initialized to the component's effective mass (instrinsic mass plus the mass due to all attachmented components).
`PropertyList`	`getAllPropertyInfo()` Returns a list giving static information about all properties exported by this object.
`DistanceGrid`	`getDistanceGrid()` Returns a signed distance grid that can be used with a SignedDistanceCollider, or `null` if a grid is not available (i.e., if `RigidBody.hasDistanceGrid()` returns `false`).
`abstract void`	`getDShape(Matrix3d Dshp, int i, Vector3d pos0)`
`void`	`getEffectiveMass(Matrix M, double t)` Gets the effective mass of this component at a particular time.
`int`	`getEffectiveMassForces(VectorNd f, double t, int idx)` Gets the mass forces for this component at a particular time.
`VectorNd`	`getElasticForce()`
`VectorNd`	`getElasticPos()`
`double`	`getElasticPos(int idx)`
`void`	`getElasticPos(VectorNd pos)`
`VectorNd`	`getElasticVel()`
`double`	`getElasticVel(int idx)`
`void`	`getElasticVel(VectorNd vel)`
`VectorNd`	`getExternalElasticForce()`
`int`	`getForce(double[] f, int idx)`
`void`	`getInverseMass(Matrix Minv, Matrix M)` Inverts a mass for this component.
`void`	`getMass(Matrix M, double t)` Gets the mass of this component at a particular time.
`double`	`getMassDamping()`
`FemMaterial`	`getMaterial()`
`int`	`getPosDerivative(double[] dxdt, int idx)`
`int`	`getPosState(double[] buf, int idx)`
`int`	`getPosStateSize()`
`abstract void`	`getShape(Vector3d shp, int i, Vector3d pos0)`
`double`	`getStiffnessDamping()`
`int`	`getVelState(double[] buf, int idx)`
`int`	`getVelStateSize()`
`boolean`	`hasDistanceGrid()` Returns `true` if this RigidBody supports a signed distance grid that can be used with a SignedDistanceCollider.
`void`	`invalidateStiffness()`
`boolean`	`isDeformable()` Returns `true` if this collidable is deformable.
`int`	`mulInverseEffectiveMass(Matrix M, double[] a, double[] f, int idx)`
`abstract int`	`numElasticCoords()`
`void`	`propertyChanged(PropertyChangeEvent e)`
`void`	`setContactConstraint(double[] buf, double w, Vector3d dir, ContactPoint cpnt)` Computes the values for the block matrix which defines this component's contribution to a contact constraint matrix.
`void`	`setElasticForce(VectorNd f)`
`void`	`setElasticPos(int idx, double value)`
`void`	`setElasticPos(VectorNd pos)`
`void`	`setElasticVel(int idx, double value)`
`void`	`setElasticVel(VectorNd vel)`
`void`	`setExternalElasticForce(VectorNd f)`
`int`	`setForce(double[] f, int idx)`
`void`	`setMassDamping(double d)`
`void`	`setMaterial(FemMaterial mat)`
`int`	`setPosState(double[] buf, int idx)`
`void`	`setStiffnessDamping(double d)`
`int`	`setVelState(double[] buf, int idx)`
`abstract void`	`updateStiffnessMatrix()`
`void`	`zeroExternalForces()`
`void`	`zeroForces()`

Methods inherited from class artisynth.core.mechmodels.RigidBody
addConnector, addEffectiveInertia, allowCollision, applyGravity, centerPoseOnCenterOfMass, computeVolume, containsContactMaster, copy, createBox, createBox, createCylinder, createEllipsoid, createFromMesh, createFromMesh, createFromMesh, createFromMesh, createIcosahedralSphere, createRenderProps, createSphere, extrapolatePose, getCenterOfMass, getCenterOfMass, getCollidable, getCollidableAncestor, getCollidableIndex, getCollisionMesh, getConnectors, getCopyReferences, getDensity, getDensityRange, getDistanceGridMaxRes, getDistanceGridOBB, getDistanceGridRenderRanges, getDistanceGridRenderRangesRange, getDistanceGridRes, getDistanceSurfaceIso, getEffectiveInertia, getEffectiveMassForces, getFileTransform, getFrameMarkers, getInertia, getInertiaMethod, getMass, getMass, getMassRange, getMesh, getMeshFileName, getMeshFileTransform, getRenderDistanceGrid, getRenderDistanceSurface, getRotationalInertia, getRotationalInertia, getSurfaceMesh, getSurfaceMeshes, getVertexMasters, isCompound, isDuplicatable, isFileTransformRigid, isFreeBody, isMassConstant, isMeshModfied, mulInverseEffectiveMass, numSurfaceMeshes, prerender, removeConnector, render, resetEffectiveMass, scaleDistance, scaleMass, scaleMesh, scaleMesh, scan, setCenterOfMass, setCollidable, setCollidableIndex, setDensity, setDistanceGridMaxRes, setDistanceGridOBB, setDistanceGridRenderRanges, setDistanceGridRes, setDistanceSurfaceIso, setDynamic, setInertia, setInertia, setInertia, setInertia, setInertiaFromDensity, setInertiaFromMass, setInertiaMethod, setMass, setMesh, setMesh, setMesh, setMeshFileName, setPose, setRenderDistanceGrid, setRenderDistanceSurface, setRotationalInertia, setSurfaceMesh, setSurfaceMesh, transformGeometry, updateAttachmentPosStates, updateBounds, write

Methods inherited from class artisynth.core.mechmodels.Frame
addExternalForce, addForce, addPointForce, addScaledExternalForce, addSolveBlocks, addTargetJacobian, addTransformableDependencies, computeAppliedWrench, computePointVelocity, computePointVelocity, createFrameAttachment, createPointAttachment, getAxisLength, getBodyForce, getBodyVelocity, getBodyVelState, getExternalForce, getForce, getForce, getFrameDamping, getFrameDampingMode, getJacobianType, getMoment, getOrientation, getOrientation, getPose, getPose, getPosition, getRotaryDamping, getRotaryDampingMode, getRotation, getSelection, getTargetActivity, getTargetOrientation, getTargetPos, getTargetPose, getTargetPosition, getTargetVel, getTargetVelocity, getTraceablePositionProperty, getTraceables, getTransForce, getVelocity, getVelocity, getWorldVelState, resetTargets, setAxisLength, setBodyVelocity, setExternalForce, setForce, setFrameDamping, setFrameDampingMode, setOrientation, setPose, setPosition, setRotaryDamping, setRotaryDampingMode, setRotation, setState, setTargetActivity, setTargetOrientation, setTargetPos, setTargetPose, setTargetPosition, setTargetVel, setTargetVelocity, setVelocity, setVelocity, subPointForce, subPointForce, transformPose, velocityLimitExceeded

Methods inherited from class artisynth.core.mechmodels.DynamicComponentBase
addConstrainer, addMasterAttachment, getAttachment, getConstrainers, getMasterAttachments, getSolveIndex, hasState, isActive, isAttached, isControllable, isDynamic, isParametric, removeConstrainer, removeMasterAttachment, setAttached, setSolveIndex, transformGeometry

Methods inherited from class artisynth.core.modelbase.RenderableComponentBase
getRenderHints, getRenderProps, isSelectable, numSelectionQueriesNeeded, setRenderProps, updateRenderProps

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface artisynth.core.mechmodels.ConnectableBody
transformPose

Methods inherited from interface artisynth.core.mechmodels.FrameAttachable
createFrameAttachment

Methods inherited from interface artisynth.core.mechmodels.PointAttachable
createPointAttachment

Methods inherited from interface artisynth.core.mechmodels.DynamicComponent
addConstrainer, addMasterAttachment, checkFlag, clearFlag, getAttachment, getConstrainers, getMasterAttachments, getSolveIndex, isActive, isAttached, isControllable, isDynamic, isParametric, removeConstrainer, removeMasterAttachment, setAttached, setFlag, setSolveIndex

Methods inherited from interface artisynth.core.modelbase.TransformableGeometry
transformGeometry

- Field Detail
  - myProps
```
public static PropertyList myProps
```
- Method Detail
  - invalidateStiffness
```
public void invalidateStiffness()
```
  - getAllPropertyInfo
```
public PropertyList getAllPropertyInfo()
```
    Description copied from interface: HasProperties
    
    Returns a list giving static information about all properties exported by this object.
    
    Specified by:
    
    getAllPropertyInfo in interface HasProperties
    
    Overrides:
    
    getAllPropertyInfo in class RigidBody
    
    Returns:
    
    static information for all exported properties
  - numElasticCoords
```
public abstract int numElasticCoords()
```
  - isDeformable
```
public boolean isDeformable()
```
    Description copied from interface: Collidable
    
    Returns true if this collidable is deformable. Whether or not a collidable is deformable determines how it responds to default collision behaviors involving deformable and rigid collidables. Also, self-collisions among sub-collidables of a collidable A are permitted only if A is deformable.
    
    Specified by:
    
    isDeformable in interface Collidable
    
    Specified by:
    
    isDeformable in interface ConnectableBody
    
    Overrides:
    
    isDeformable in class RigidBody
    
    Returns:
    
    true if this collidable is deformable
  - hasDistanceGrid
```
public boolean hasDistanceGrid()
```
    Description copied from class: RigidBody
    
    Returns true if this RigidBody supports a signed distance grid that can be used with a SignedDistanceCollider. A grid is available if either the property distanceGridMaxRes is positive, or the property distanceGridRes contains all positive values.
    
    Specified by:
    
    hasDistanceGrid in interface CollidableBody
    
    Specified by:
    
    hasDistanceGrid in interface HasDistanceGrid
    
    Overrides:
    
    hasDistanceGrid in class RigidBody
    
    Returns:
    
    true if a signed distance grid is available for this RigidBody
    
    See Also:
    
    RigidBody.getDistanceGridMaxRes(), RigidBody.getDistanceGridRes()
  - getDistanceGrid
```
public DistanceGrid getDistanceGrid()
```
    Description copied from class: RigidBody
    
    Returns a signed distance grid that can be used with a SignedDistanceCollider, or null if a grid is not available (i.e., if RigidBody.hasDistanceGrid() returns false). The number of divisons in the grid is controlled explicitly by the property distanceGridRes, or, that is 0, by the property distanceGridMaxRes. If both properties are 0, no grid is available and null will be returned.
    
    Specified by:
    
    getDistanceGrid in interface CollidableBody
    
    Specified by:
    
    getDistanceGrid in interface HasDistanceGrid
    
    Overrides:
    
    getDistanceGrid in class RigidBody
    
    Returns:
    
    signed distance grid, or null if a grid is not available this RigidBody
    
    See Also:
    
    RigidBody.getDistanceGridMaxRes(), RigidBody.getDistanceGridRes()
  - setMassDamping
```
public void setMassDamping(double d)
```
  - getMassDamping
```
public double getMassDamping()
```
  - setStiffnessDamping
```
public void setStiffnessDamping(double d)
```
  - getStiffnessDamping
```
public double getStiffnessDamping()
```
  - createDefaultMaterial
```
public static FemMaterial createDefaultMaterial()
```
  - getMaterial
```
public FemMaterial getMaterial()
```
  - setMaterial
```
public void setMaterial(FemMaterial mat)
```
  - propertyChanged
```
public void propertyChanged(PropertyChangeEvent e)
```
    Specified by:
    
    propertyChanged in interface PropertyChangeListener
  - getElasticPos
```
public VectorNd getElasticPos()
```
  - getElasticVel
```
public VectorNd getElasticVel()
```
  - getElasticPos
```
public void getElasticPos(VectorNd pos)
```
  - getElasticVel
```
public void getElasticVel(VectorNd vel)
```
  - getElasticForce
```
public VectorNd getElasticForce()
```
  - setElasticForce
```
public void setElasticForce(VectorNd f)
```
  - addElasticForce
```
public void addElasticForce(VectorNd f)
```
  - getExternalElasticForce
```
public VectorNd getExternalElasticForce()
```
  - setExternalElasticForce
```
public void setExternalElasticForce(VectorNd f)
```
  - addExternalElasticForce
```
public void addExternalElasticForce(VectorNd f)
```
  - addScaledExternalElasticForce
```
public void addScaledExternalElasticForce(double s,
                                          VectorNd f)
```
  - setElasticPos
```
public void setElasticPos(VectorNd pos)
```
  - setElasticVel
```
public void setElasticVel(VectorNd vel)
```
  - createMassBlock
```
public MatrixBlock createMassBlock()
```
    Description copied from interface: DynamicComponent
    
    Create a matrix block for representing the mass of this component, initialized to the component's effective mass (instrinsic mass plus the mass due to all attachmented components).
    
    Specified by:
    
    createMassBlock in interface DynamicComponent
    
    Overrides:
    
    createMassBlock in class Frame
  - getMass
```
public void getMass(Matrix M,
                    double t)
```
    Description copied from interface: DynamicComponent
    
    Gets the mass of this component at a particular time. Not currently used; getEffectiveMass() is used instead.
    
    Specified by:
    
    getMass in interface DynamicComponent
    
    Overrides:
    
    getMass in class RigidBody
    
    Parameters:
    
    M - matrix to return the mass in
    
    t - current time
  - getEffectiveMassForces
```
public int getEffectiveMassForces(VectorNd f,
                                  double t,
                                  int idx)
```
    Description copied from interface: DynamicComponent
    
    Gets the mass forces for this component at a particular time. The forces should be stored in f, starting at the location specified by idx. Upon return, this method should return the value of idx incremented by the dimension of the mass forces.
    
    Specified by:
    
    getEffectiveMassForces in interface DynamicComponent
    
    Overrides:
    
    getEffectiveMassForces in class RigidBody
    
    Parameters:
    
    f - vector to return the forces in
    
    t - current time
    
    idx - starting location within f where forces should be stored
    
    Returns:
    
    updated value for idx
  - getEffectiveMass
```
public void getEffectiveMass(Matrix M,
                             double t)
```
    Description copied from interface: DynamicComponent
    
    Gets the effective mass of this component at a particular time. The effective mass is the nominal mass plus any additional mass incurred from attached components.
    
    Specified by:
    
    getEffectiveMass in interface DynamicComponent
    
    Overrides:
    
    getEffectiveMass in class RigidBody
    
    Parameters:
    
    M - matrix to return the mass in
    
    t - current time
  - mulInverseEffectiveMass
```
public int mulInverseEffectiveMass(Matrix M,
                                   double[] a,
                                   double[] f,
                                   int idx)
```
    Specified by:
    
    mulInverseEffectiveMass in interface DynamicComponent
    
    Overrides:
    
    mulInverseEffectiveMass in class RigidBody
  - addEffectivePointMass
```
public void addEffectivePointMass(double m,
                                  Vector3d loc)
```
    Adds a point mass to the effective spatial inertia for this Frame.
    
    Overrides:
    
    addEffectivePointMass in class RigidBody
    
    Parameters:
    
    m - mass of the point
    
    loc - location of the point (in local frame coordinates)
  - getInverseMass
```
public void getInverseMass(Matrix Minv,
                           Matrix M)
```
    Description copied from interface: DynamicComponent
    
    Inverts a mass for this component.
    
    Specified by:
    
    getInverseMass in interface DynamicComponent
    
    Overrides:
    
    getInverseMass in class RigidBody
    
    Parameters:
    
    Minv - matrix to return the inverse mass in
    
    M - matrix containing the mass to be inverted
  - addSolveBlock
```
public void addSolveBlock(SparseNumberedBlockMatrix S)
```
    Specified by:
    
    addSolveBlock in interface DynamicComponent
    
    Overrides:
    
    addSolveBlock in class Frame
  - addPosImpulse
```
public void addPosImpulse(double[] xbuf,
                          int xidx,
                          double h,
                          double[] vbuf,
                          int vidx)
```
    Specified by:
    
    addPosImpulse in interface DynamicComponent
    
    Overrides:
    
    addPosImpulse in class Frame
  - getPosDerivative
```
public int getPosDerivative(double[] dxdt,
                            int idx)
```
    Specified by:
    
    getPosDerivative in interface DynamicComponent
    
    Overrides:
    
    getPosDerivative in class Frame
  - getPosState
```
public int getPosState(double[] buf,
                       int idx)
```
    Specified by:
    
    getPosState in interface DynamicComponent
    
    Overrides:
    
    getPosState in class Frame
  - setPosState
```
public int setPosState(double[] buf,
                       int idx)
```
    Specified by:
    
    setPosState in interface DynamicComponent
    
    Overrides:
    
    setPosState in class Frame
  - getVelState
```
public int getVelState(double[] buf,
                       int idx)
```
    Specified by:
    
    getVelState in interface DynamicComponent
    
    Overrides:
    
    getVelState in class Frame
  - setVelState
```
public int setVelState(double[] buf,
                       int idx)
```
    Specified by:
    
    setVelState in interface DynamicComponent
    
    Overrides:
    
    setVelState in class Frame
  - setForce
```
public int setForce(double[] f,
                    int idx)
```
    Specified by:
    
    setForce in interface DynamicComponent
    
    Overrides:
    
    setForce in class Frame
  - getForce
```
public int getForce(double[] f,
                    int idx)
```
    Specified by:
    
    getForce in interface DynamicComponent
    
    Overrides:
    
    getForce in class Frame
  - getPosStateSize
```
public int getPosStateSize()
```
    Specified by:
    
    getPosStateSize in interface DynamicComponent
    
    Specified by:
    
    getPosStateSize in interface MotionTargetComponent
    
    Overrides:
    
    getPosStateSize in class Frame
  - getVelStateSize
```
public int getVelStateSize()
```
    Specified by:
    
    getVelStateSize in interface DynamicComponent
    
    Specified by:
    
    getVelStateSize in interface MotionTargetComponent
    
    Overrides:
    
    getVelStateSize in class Frame
  - zeroForces
```
public void zeroForces()
```
    Specified by:
    
    zeroForces in interface DynamicComponent
    
    Overrides:
    
    zeroForces in class Frame
  - zeroExternalForces
```
public void zeroExternalForces()
```
    Specified by:
    
    zeroExternalForces in interface DynamicComponent
    
    Overrides:
    
    zeroExternalForces in class Frame
  - applyExternalForces
```
public void applyExternalForces()
```
    Specified by:
    
    applyExternalForces in interface DynamicComponent
    
    Overrides:
    
    applyExternalForces in class Frame
  - updateStiffnessMatrix
```
public abstract void updateStiffnessMatrix()
```
  - applyForces
```
public void applyForces(double t)
```
    Description copied from interface: ForceEffector
    
    Adds forces to the components affected by this force effector at a particular time. Component forces should be added and not set, since other forces may be added to the same components by other force effectors.
    
    Specified by:
    
    applyForces in interface ForceEffector
    
    Overrides:
    
    applyForces in class Frame
    
    Parameters:
    
    t - time (seconds)
  - addVelJacobian
```
public void addVelJacobian(SparseNumberedBlockMatrix S,
                           double s)
```
    Description copied from interface: ForceEffector
    
    Scales the components of the velocity Jacobian associated with this force effector and adds it to the supplied solve matrix M.
    M is guaranteed to be the same matrix supplied in the most recent call to addSolveBlocks, and so implementations may choose to cache the relevant matrix blocks from that call, instead of retrieving them directly from M.
    
    Specified by:
    
    addVelJacobian in interface ForceEffector
    
    Overrides:
    
    addVelJacobian in class Frame
    
    Parameters:
    
    S - solve matrix to which scaled velocity Jacobian is to be added
    
    s - scaling factor for velocity Jacobian
  - addPosJacobian
```
public void addPosJacobian(SparseNumberedBlockMatrix S,
                           double s)
```
    Description copied from interface: ForceEffector
    
    Scales the components of the position Jacobian associated with this force effector and adds it to the supplied solve matrix M.
    M is guaranteed to be the same matrix supplied in the most recent call to addSolveBlocks, and so implementations may choose to cache the relevant matrix blocks from that call, instead of retrieving them directly from M.
    
    Specified by:
    
    addPosJacobian in interface ForceEffector
    
    Overrides:
    
    addPosJacobian in class Frame
    
    Parameters:
    
    S - solve matrix to which scaled position Jacobian is to be added
    
    s - scaling factor for position Jacobian
  - getShape
```
public abstract void getShape(Vector3d shp,
                              int i,
                              Vector3d pos0)
```
  - getDShape
```
public abstract void getDShape(Matrix3d Dshp,
                               int i,
                               Vector3d pos0)
```
  - addPointMass
```
public void addPointMass(Matrix M,
                         double m,
                         Vector3d pos)
```
    Description copied from class: Frame
    
    Adds a point mass to a matrix that contains the spatial inertia for this Frame.
    
    Overrides:
    
    addPointMass in class Frame
    
    Parameters:
    
    M - matrix containing existing spatial inertia
    
    m - mass of the point
    
    pos - location of the point (in local frame coordinates)
  - computePointPosition
```
public void computePointPosition(Vector3d pos,
                                 Point3d loc)
```
    Description copied from class: Frame
    
    Computes the position, in world coordinates, of a point attached to this frame.
    
    Overrides:
    
    computePointPosition in class Frame
    
    Parameters:
    
    pos - returns the point position
    
    loc - position of the point, in body coordinates
  - computePointLocation
```
public void computePointLocation(Vector3d loc,
                                 Vector3d pos)
```
    Description copied from class: Frame
    
    Computes the location, in body coordinates, of a point whose position is given in world coordinates. This is the inverse computation of Frame.computePointPosition(maspack.matrix.Vector3d, maspack.matrix.Point3d).
    
    Overrides:
    
    computePointLocation in class Frame
    
    Parameters:
    
    loc - returns the point location
    
    pos - position of the point, in world coordinates
  - computePointVelocity
```
public void computePointVelocity(Vector3d vel,
                                 Point3d loc,
                                 Twist frameVel)
```
    Description copied from class: Frame
    
    Computes the velocity, in world coordinates, of a point attached to this frame.
    
    Overrides:
    
    computePointVelocity in class Frame
    
    Parameters:
    
    vel - returns the point velocity
    
    loc - position of the point, in body coordinates
    
    frameVel - velocity of the frame, in rotated world coordinates
  - computePointCoriolis
```
public void computePointCoriolis(Vector3d cor,
                                 Vector3d loc)
```
    Description copied from class: Frame
    
    Computes the velocity derivative of a point attached to this frame that is due to the current velocity of the frame.
    
    Overrides:
    
    computePointCoriolis in class Frame
    
    Parameters:
    
    cor - returns the point Coriolis term (in world coordinates)
    
    loc - position of the point, in body coordinates
  - addPointForce
```
public void addPointForce(Wrench wr,
                          VectorNd fe,
                          Point3d loc,
                          Vector3d f)
```
    Adds to wr and fe the wrench and elastic forces arising from applying a force f on a point loc.
    
    Parameters:
    
    wr - accumulates the wrench (world coordinates)
    
    fe - accumulates the elastic forces
    
    loc - location of the point (undeformed body coordinates)
    
    f - force applied to the point (world coordinates)
  - addPointForce
```
public void addPointForce(Point3d loc,
                          Vector3d f)
```
    Adds to this body's forces the wrench arising from applying a force f on a point loc.
    
    Overrides:
    
    addPointForce in class Frame
    
    Parameters:
    
    loc - location of the point (body coordinates)
    
    f - force applied to the point (world coordinates)
  - computeWorldPointForceJacobian
```
public void computeWorldPointForceJacobian(MatrixBlock GT,
                                           Point3d loc)
```
    Description copied from class: Frame
    Computes the force Jacobian, in world coordinates, for a point attached to this frame. If the velocity state size (vsize) of this frame is 6, then GT should be an instance of Matrix6x3Block. Otherwise, it should be an instance of MatrixNdBlock with a size of vsize x 3. For the Matrix6x3Block case, the Jacobian is a 6x3 matrix with the following form:
```
 [     I     ]
 [           ]
 [ [ R loc ] ]
 
```
    where I is the 3x3 identity matrix, R is the frame orientation matrix, and [ x ] denotes the 3x3 skew-symmetric cross product matrix.
    Overrides:
    
    computeWorldPointForceJacobian in class Frame
    
    Parameters:
    
    GT - returns the force Jacobian
    
    loc - position of the point, in body coordinates
  - computeLocalPointForceJacobian
```
public void computeLocalPointForceJacobian(MatrixBlock GT,
                                           Vector3d loc,
                                           RotationMatrix3d R)
```
    Description copied from class: Frame
    Computes a force Jacobian for a point attached to this frame, and then optionally rotates its columns using a rotation matrix R. If the velocity state size (vsize) of this frame is 6, then G should be an instance of Matrix6x3Block. Otherwise, it should be an instance of MatrixNdBlock with a size of vsize x 3. If the rotation matrix R is null, then the Jacobian takes the following form for the 6x3 matrix case:
```
 [     I       ]
 [             ]
 [ [ RF loc ]  ]
 
```
    where RF is the frame orientation matrix, loc is the location of the point in frame coordinates, and [ x ] denotes the 3x3 skew-symmetric cross product matrix. If the rotation matrix R is not null, then the 6x3 case takes the following form:
```
 [     R         ]
 [               ]
 [ [ RF loc ]  R ]
 
```
    Overrides:
    
    computeLocalPointForceJacobian in class Frame
    
    Parameters:
    
    GT - returns the force Jacobian
    
    loc - location of the point, relative to the frame
    
    R - optional rotation transform
  - computeDeformedPos
```
public void computeDeformedPos(Vector3d pos,
                               Vector3d pos0)
```
    Computes the deformed position in body coordinates
  - computeUndeformedPos
```
public double computeUndeformedPos(Vector3d pos0,
                                   Vector3d pos,
                                   double tol)
```
    Computes the undeformed position of a given position in body coordinates
  - computeDeformedVel
```
public void computeDeformedVel(Vector3d vel,
                               Vector3d pos0)
```
    Computes the deformed velocity in body coordinates
  - computeDeformationGradient
```
public void computeDeformationGradient(Matrix3d F,
                                       Vector3d x0)
```
  - computeDeformedFrame
```
public void computeDeformedFrame(RigidTransform3d A,
                                 PolarDecomposition3d polarDecomp,
                                 RigidTransform3d A0)
```
  - computeUndeformedFrame
```
public void computeUndeformedFrame(RigidTransform3d A0,
                                   PolarDecomposition3d polarDecomp,
                                   RigidTransform3d A)
```
  - computeDeformedFrame
```
public void computeDeformedFrame(RigidTransform3d A,
                                 RigidTransform3d A0)
```
  - computeDeformedFrameVel
```
public void computeDeformedFrameVel(Twist vel,
                                    PolarDecomposition3d polarDecomp,
                                    RigidTransform3d A0)
```
    Computes the spatial velocity of an attached frame A, as represented in the coordinates of A.
  - computeElasticJacobian
```
public void computeElasticJacobian(MatrixNd Pi,
                                   PolarDecomposition3d polarDecomp,
                                   RigidTransform3d A0,
                                   boolean worldCoords)
```
    Compute the transform that maps elastic velocities onto the spatial velocity of an attached frame A.
    
    Parameters:
    
    Pi - stores the elastic Jacobian
    
    polarDecomp - should be initialized to the polar decomposition of the deformation gradient at the origin of A
    
    A0 - rest pose of A (relative to the body frame)
    
    worldCoords - if true, the spatial velocity is rotated into world coordinates. Otherwise, it is returned in the coordinates of A.
  - setElasticPos
```
public void setElasticPos(int idx,
                          double value)
```
  - getElasticPos
```
public double getElasticPos(int idx)
```
  - setElasticVel
```
public void setElasticVel(int idx,
                          double value)
```
  - getElasticVel
```
public double getElasticVel(int idx)
```
  - setContactConstraint
```
public void setContactConstraint(double[] buf,
                                 double w,
                                 Vector3d dir,
                                 ContactPoint cpnt)
```
    Description copied from interface: CollidableDynamicComponent
    
    Computes the values for the block matrix which defines this component's contribution to a contact constraint matrix. The matrix is 1 x n, where n is the component's velocity state size, and the contact is defined by a direction dir and a point cpnt. The computed values should be scaled by a weighting factor w.
    
    Specified by:
    
    setContactConstraint in interface CollidableDynamicComponent
    
    Overrides:
    
    setContactConstraint in class Frame
    
    Parameters:
    
    buf - returns the n values for the block matrix
    
    w - weighting factor by which the values should be scaled
    
    dir - contact direction (world coordinates)
    
    cpnt - contact point
  - addToPointVelocity
```
public void addToPointVelocity(Vector3d vel,
                               double w,
                               ContactPoint cpnt)
```
    Description copied from interface: CollidableDynamicComponent
    
    Computes the velocity imparted to a contact point by this component's current velocity, multiples it by a weighting factor w, and add it to vel.
    
    Specified by:
    
    addToPointVelocity in interface CollidableDynamicComponent
    
    Overrides:
    
    addToPointVelocity in class Frame
    
    Parameters:
    
    vel - accumulates contact point velocity (world coordinates)
    
    w - weighting factor
    
    cpnt - contact point

Class DeformableBody

Nested Class Summary

Nested classes/interfaces inherited from class artisynth.core.mechmodels.RigidBody

Nested classes/interfaces inherited from interface artisynth.core.mechmodels.Collidable

Field Summary

Fields inherited from class artisynth.core.mechmodels.Frame

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

Fields inherited from interface artisynth.core.mechmodels.Collidable

Fields inherited from interface artisynth.core.modelbase.CopyableComponent

Fields inherited from interface artisynth.core.modelbase.TransformableGeometry

Fields inherited from interface maspack.render.IsRenderable

Method Summary

Methods inherited from class artisynth.core.mechmodels.RigidBody

Methods inherited from class artisynth.core.mechmodels.Frame

Methods inherited from class artisynth.core.mechmodels.DynamicComponentBase

Methods inherited from class artisynth.core.modelbase.RenderableComponentBase

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

Methods inherited from class java.lang.Object

Methods inherited from interface artisynth.core.mechmodels.ConnectableBody

Methods inherited from interface artisynth.core.mechmodels.FrameAttachable

Methods inherited from interface artisynth.core.mechmodels.PointAttachable

Methods inherited from interface artisynth.core.mechmodels.DynamicComponent

Methods inherited from interface artisynth.core.modelbase.TransformableGeometry

Field Detail

myProps

Method Detail

invalidateStiffness

getAllPropertyInfo

numElasticCoords

isDeformable

hasDistanceGrid

getDistanceGrid

setMassDamping

getMassDamping

setStiffnessDamping

getStiffnessDamping

createDefaultMaterial

getMaterial

setMaterial

propertyChanged

getElasticPos

getElasticVel

getElasticPos

getElasticVel

getElasticForce

setElasticForce

addElasticForce

getExternalElasticForce

setExternalElasticForce

addExternalElasticForce

addScaledExternalElasticForce

setElasticPos

setElasticVel

createMassBlock

getMass

getEffectiveMassForces

getEffectiveMass

mulInverseEffectiveMass

addEffectivePointMass

getInverseMass

addSolveBlock

addPosImpulse

getPosDerivative

getPosState

setPosState

getVelState

setVelState

setForce

getForce

getPosStateSize

getVelStateSize

zeroForces

zeroExternalForces

applyExternalForces

updateStiffnessMatrix

applyForces

addVelJacobian

addPosJacobian

getShape

getDShape